View-based approaches, especially the spherical projections [1]}, have proved to achieve good performance for point cloud segmentation that can run in real-time. In Figure REF , a LiDAR point cloud is shown after being translated to the spherical projection representation. The image height represents the number of layers in a LiDAR sensor, and the image width represents the number of unique angles at which points are reflected. This approach is based on the fact that LiDAR beams detect the frontal objects occluding all what is behind.
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